CN101638041A

CN101638041A - Helicopter with ground electric running function

Info

Publication number: CN101638041A
Application number: CN200910106777A
Authority: CN
Inventors: 苏华; 吴长泰; 黄建君
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-04-24
Filing date: 2009-04-24
Publication date: 2010-02-03

Abstract

The invention provides a helicopter with an electric ground running function, which is characterized by comprising a ground running system, a driving control system and a running electric energy powersupply system, wherein the driving control system is used for controlling the speed and the direction of wheels of the ground running system; the ground running system is used for operating the speedand the direction of the wheels according to the control of the driving control system; and the running electric energy power supply system is used for providing an electric energy power supply for the driving control system and the ground running system. The invention adds a motor with light weight and other devices on a flight undercarriage of the helicopter, thereby overcoming the mobility defect of the ground moving and the like of the helicopter, which are to be dragged; and in addition, especially the electric ground running direction is operated along with linear change, thereby the ground environment adaptability of the helicopter is enhanced.

Description

A kind of autogyro with ground electric running function

Technical field

The present invention relates to the autogyro technical field, particularly a kind of autogyro with ground electric running function.

Background technology

Be used to the helicopter flight device that flies hoppicopter and do not have autogyro top wing mechanism characteristics, do not have the ground run function, limited the usability and the ground maneuverability of product.

Summary of the invention

The invention provides a kind of autogyro, enlarge the range of use of autogyro with ground electric running function.

To achieve these goals, the invention provides following technical scheme:

A kind of autogyro with ground electric running function, described ground run system, Ride Control System and the electrical power system of travelling, wherein:

Described Ride Control System is used to control the speed and the direction of the wheel of ground run system;

Described ground run system is used for speed and direction according to the described wheel of control operation of described Ride Control System;

The described electrical power system of travelling is used to described Ride Control System, described ground run system that electrical power is provided.

Wherein, described ground run system comprises and is arranged on the front fuselage below first adhesion wheel device and the second adhesion wheel device, and the direction wheel assembly that is arranged on the front fuselage below.

Wherein, described adhesion wheel device comprise bumper, be used to drive described adhesion wheel transmission machinery, be used for the electromagnetic brake device of brake motor and be used to control this transmission machinery transmission so that this adhesion wheel is electricity drive to rotate or on-electric slides conv;

Described direction wheel assembly comprises direction wheel, bumper and vehicle wheel frame, described bumper is connected between lower end, described fuselage the place ahead and the vehicle wheel frame, described vehicle wheel frame is connected between the described bumper lower end and is used to make wheel to do freely turning to of 360 degree to the left or to the right, and described direction wheel is provided with the vehicle wheel frame below and is used to slide and the autogyro direct of travel that leads.

Wherein, described Ride Control System, be installed in the fuselage, comprise: the control device and the hand operating lever that is used for to described control device input control signal that are used for electronic ride control, handle described control device by described hand operating lever described adhesion wheel device is controlled, produce on ground to drive autogyro that direction running, power travel, the various electricity of drag travel action form.

Wherein, described control device comprises: control signal judging unit, travel direction control unit, driving dynamics control unit, brake control unit, wherein:

The control signal judging unit, the X/Y coordinate that is used to judge the hand operating lever control signal is than changing and the control signal of XY changes in coordinates, travel direction control and judge that drag handles and judge and handle the driving dynamics size variation;

The brake control unit is used to control two electromagnetic brake devices and produces braking maneuver;

The driving dynamics control unit is used for changing or reversing power operation variation by each electrical motor turn power operation of controlling two electrical motors, and realizes that the power of control autogyro ground run changes and velocity variations;

The travel direction control unit is used for realizing that by each electrical motor of controlling two electrical motors the direction of controlling the autogyro ground run changes.

Wherein, the described electrical power system of travelling, be arranged in the fuselage, comprise supply unit and power control, change the control device work energy into, change two electrical motor operation electric energy and two electromagnetic brake device work energy into by the electric energy of power control with supply unit

By above technical scheme as can be seen, autogyro with ground electric running function provided by the invention, realize the electronic driving functions in ground by ground run system, Ride Control System and the electrical power system of travelling, enlarged the range of use of autogyro.

Description of drawings

The autogyro structural representation that Fig. 1 provides for the embodiment of the invention;

The adhesion wheel apparatus structure scheme drawing that Fig. 2 provides for the embodiment of the invention;

The adhesion wheel device that Fig. 3 provides for the embodiment of the invention formal transformation structural representation that travels;

Fig. 4 drives the Control work diagram of circuit for the autogyro that the embodiment of the invention provides;

Fig. 5 drives the crossplot point scheme drawing of 8 kinds of combined running form linear change of control for the autogyro that the embodiment of the invention provides;

The linear change scheme drawing of four kinds of differential combined runnings that turn round in the same way of autogyro that Fig. 6 provides for the embodiment of the invention;

The autogyro ground electric running direction control flow chart that Fig. 7 provides for the embodiment of the invention;

The autogyro ground electric running power control diagram of circuit that Fig. 8 provides for the embodiment of the invention;

The control signal judging unit control flow chart of the autogyro that Fig. 9 provides for the embodiment of the invention;

The whole controlsurface scheme drawing of the hand operating lever of the autogyro that Fig. 9 (1) provides for the embodiment of the invention;

8 kinds of direction running handled face scheme drawings of the autogyro that Fig. 9 (2) provides for the embodiment of the invention;

The hand lever operating function simulated diagram of the autogyro that Figure 10 provides for the embodiment of the invention;

The autogyro that Figure 11 provides for the embodiment of the invention is at the control flow chart of ground electric running.

The specific embodiment

Technical scheme is for a better understanding of the present invention described embodiment provided by the invention in detail below in conjunction with accompanying drawing.

The embodiment of the invention provides that a kind of energy is electronic to travel and can slide the autogyro that travels, this autogyro comprises the ground run device, this device be autogyro take off the landing alighting gear be again the mechanism of autogyro at ground run, as shown in Figure 1, this device comprises that car wheel structure is the ground run system of autogyro wheel, the Ride Control System that wheel drive is travelled, the electrical power of travelling system.Respectively these three systems are described in detail below.

1, the ground run system of autogyro wheel alighting gear mechanism:

The ground run system of autogyro flight alighting gear comprises and is arranged on the fuselage 110 front ends below first adhesion wheel device 140 and the second adhesion wheel device 141, and the direction wheel assembly 142 that is arranged on fuselage 110 front ends below, wherein:

1.1, as shown in Figure 2, adhesion wheel device 210 (comprising the first adhesion wheel device 140 and the second adhesion wheel device 141), comprise acting on and drive the electrical motor 230 that an adhesion wheel (drive wheels) 210 rotates, comprise the transmission machinery that this electrical motor 230 of transmission drives, brake the electromagnetic brake device 280 that this electrical motor 230 rotates, controlling these transmission machinery 281 transmissions makes this adhesion wheel 210 rotate for electricity drives or on-electric slides a conv 240 of rotation, the as a whole mechanism of described adhesion wheel 210 devices, be connected with bumper by this transmission machinery 281, become a part of device of helicopter landing gear, also be a part of device of autogyro ground run mechanism, these described adhesion wheel 210 devices are included in fuselage one end and each adhesion wheel 210 device of fuselage left and right sides.

1.2, described conv 240 is made up of a ring gear and a driving gear, ring gear is used to promote wheel nave, driving gear is connected with the dynamical axis of electrical motor 230, be the electrodynamic gear of slip form active transfer, 1. when the active slip gear engages with ring gear, transmit electrical motor 230 and drive adhesion wheel 210 rotational powers, and electromagnetic brake device 280 transmits mechanical resistance when preventing electrical motors 230 to rotate adhesion wheel 210 is stopped operating, see Fig. 3 (1), 2. when active slip gear and ring gear disengaging, driving gear is followed electrical motor 230 and is rotated, ring gear is followed adhesion wheel 210 and is rotated, make adhesion wheel 210 be in sliding mode, electromagnetic brake device 280 can not be braked adhesion wheel 210 and rotate.

Described: 1. when conv 240 gear engagement adhesion wheels 210 rotate to electric drive form, the running state of electrical motor 230 is adhesion wheel 210 rotary states, autogyro ground run condition is automatically controlled motoring condition, when electromagnetic brake device 280 electromagnetic force brake motors 230 rotate, the transmission machinery that stops operating is also braked adhesion wheel 210, the autogyro ground electric running produces electric brake, 2. when conv 240 gears break away from adhesion wheel 210 for the slip form, the transmission agency of transmission machinery 281 does not exist, electrical motor 230 operates to idling conditions, adhesion wheel 210 is the art skating state, electromagnetic brake device 280 does not produce the electric brake effect at this moment, sees Fig. 3 (2).

Two adhesion wheels 210 of fuselage one end left and right sides must similarly be used as electrically driven wheel or not electric equally driving and use as the scooter wheel, and the rotation formula of its each wheel must not be opposite; When the electricity driving is travelled, two electrical motors 230 of two electromagnetic brake devices 280 brakings make 210 brakes of two adhesion wheels, and the braking maneuver of electromagnetic brake device 280 also must be synchronously.

1.3, direction wheel assembly 142, comprise and belong to the direction wheel 143 that slides character and be used as guiding autogyro direct of travel, comprise make direction wheel 143 can be to the left or to the right 360 degree freely turn to and a vehicle wheel frame 144, these vehicle wheel frame 144 closure wheels 143, described direction wheel assembly 142 as a whole mechanisms, be connected with bumper by this vehicle wheel frame 144, become helicopter landing gear another part device, also be autogyro ground run mechanism another part device, tie up to the front fuselage below.

In the embodiment of the invention, direction wheel 143 devices and adhesion wheel 210 devices bear whole fuselage weight in the fuselage front and back end during autogyro landing ground, when autogyro on ground during electronic travelling, turning to of front fuselage direction wheel 143 is subjected to fuselage other end fuselage and is positioned at each adhesion wheel 210 driving situation of this fuselage left and right sides to control, the electricity fuselage motoricity that produces of travelling turns to decision direction wheel 143, when the autogyro ground taxi is travelled, other thrust power that the steering system of direction wheel 143 is promoted fuselage motion determine to institute, describedly is the autogyro ground electric running or slides the direction wheel 143 that the travels autogyro direction running situations that lead.

2, autogyro drives the Ride Control System that travels at the ground electricity:

Autogyro drives the Ride Control System that travels at the ground electricity, be installed in the fuselage, comprise a controller 150 devices that are exclusively used in electronic ride control, controller 150 devices comprise hand operating lever 120, this hand operating lever 120 is the control signal input media, when hand operating lever 120 is that various oblique manipulations are done when mobile in the center with the center of circle at disk, each point is sensing operation information point on the disc.

Produce the device that the XY coordinate points changes automatically controlled signal, hand operating lever 120 for autogyro ground electric running riding manipulation, the electric signal transmission of various operation informations is to controller 150, controller 150 devices also comprise: the control signal judging unit, the travel direction control unit, the driving dynamics control unit, the brake control unit, other of protection motor operation control unit controller are judged automatic control units such as control unit, these unit are realized by the software and hardware of prior art, preset hand operating lever 120 signals in the controller 150 and judged parameter, the fuselage exercise group controlled variable of making a concerted effort, two electrical motor 230 each independent controlled operational parameter controls, judge two functions such as electromagnetic brake device 280 synchronization actions, realize that two adhesion wheels of hand operating lever 120 controls, 210 devices drive autogyros and produce the various electricity action form that travels on ground, as: direction running, power travels, drag is seen Fig. 4; Wherein:

2.1, the travel direction control unit:

Electrical motor 230 is just changeing, reversing, the shutdown situation, make two electrical motors 230 of travel direction control unit control that the combined running of eight kinds of forms be arranged, two situations according to just transformation operation and reversing variation operation that comprise are combined as: 1. two electrical motors 230 all are to rotate in the same way, all be just to change or all be two kinds the combined running that reverses of equal rotating speed, 2. other four kinds of combined runnings: have to be difference speed discrepancy power electrical motor in two electrical motors 230, but two two kinds of array configurations or two two kinds of array configurations that electrical motor 230 all reverses that electrical motor 230 is all just changeing, be total up to four kinds of forms, 3. electrical motor is to differ from the operation of speed discrepancy power character, and for first motor power in two electrical motors 230 becomes that big second motor power diminishes or becomes big relation when first motor power, second motor power that diminishes, described is that first electrical motor is just changeing the reversing of second electrical motor and first electrical motor and reverses two kinds of combined runnings that second electrical motor just changeing; In the described travel direction control unit: 1. 2. 3. phase co-conversion is the linear change control relation: the point of the differential combined running that electrical motor is shut down among two electrical motors 230, be the 2. control of form combined running and the 3. crossplot point of the mutual variation of form combined running control, crossplot point is four, in 2. form: it is differential that first electrical motor that belongs to two electrical motors and just changeing character is shut down two electrical motors, second electrical motor is shut down two two points that electrical motor is differential, two electrical motors of first electrical motor shutdown that belong to two electrical motor reversing character are differential, second electrical motor is shut down two two points that electrical motor is differential, in 3. form: belong to first electrical motor and shut down and just preparing reversing and second electrical motor is still differential for just changeing two electrical motors, second electrical motor shut down just preparing to reverse and first electrical motor still for just changeing two two points that electrical motor is differential, belonging to first electrical motor shuts down and just just to prepare then second electrical motor is still differential for two electrical motors of reversing, second electrical motor is shut down and is just being prepared just to transfer first electrical motor still for reversing two two points that electrical motor is differential, in addition, 1. the control of form combined running and the 2. crossplot point of the mutual variation of form combined running control, crossplot point is four also: belonging to two electrical motors all just changes, the non-in the same way differential operational property it and first electrical motor change the differential in the same way operational property it of differential operation in the same way into, perhaps second electrical motor changes the differential in the same way operational property it of differential operation in the same way into, two points of described two kinds of change of properties, belonging to two electrical motors all reverses, the non-in the same way differential operational property it and first electrical motor change the differential in the same way operational property it of differential operation in the same way into, perhaps second electrical motor changes the differential in the same way operational property it of differential operation in the same way into, and two points of described two kinds of change of properties are seen Fig. 5; 1 crossplot point: it is differential that two electrical motors are just changeing the first electrical motor minimum in the same way; 8 crossplot points: it is differential that two electrical motors are just changeing the second electrical motor minimum in the same way; 2 crossplot points: first electrical motor is changed to and stops just to change; 7 crossplot points: second electrical motor progressively is changed to and stops just to change; First electrical motor changes the most at a slow speed reversing and second electrical motor into and changes second electrical motor and change reversing the most at a slow speed and first electrical motor into and change into and begin to slow down the fast speed of just walking around for beginning to slow down of just walking around; 3 crossplot points: second electrical motor is changed to and stops just to change; 6 crossplot points: first electrical motor is changed to and stops just to change second electrical motor and change the most at a slow speed reversing and first electrical motor into and change first electrical motor and change reversing the most at a slow speed and second electrical motor into and change into and be inverted for high speed the most at a high speed and reverse; 4 crossplot points: it is differential that two electrical motors reverse the first electrical motor minimum in the same way; 5 crossplot points: it is differential that two electrical motors reverse the second electrical motor minimum in the same way.

Illustrate the linear change of 6: the four kinds of differential combined runnings that turn round in the same way: described travel direction control unit presets controls 2. 230 4 kinds of differential in the same way operations of two electrical motors of form from the differential linear change control unit to maximum differential of minimum.Solid arrow is starting point and the terminal point that first motor speed changes, and solid arrow is oriented to the rotation speed change direction, points to point changes former rotation direction for break point and the operation of this motor transformation point; Starting point and terminal point that dotted arrow changes for another motor speed, it is the rotation speed change direction that this dotted arrow points to, pointing to point is the transformation point that break point and the operation of this motor change former rotation direction.

Two kinds of antiports of described two electrical motors, two kinds of reverse corresponding 3. form (see figure 6)s that change rotating speed, the change frequency of two electrical motors is identical and variability index each variation is identical, changing to when shutting down as a motor speed promptly is that combined running changes to last point, to change that each point connects promptly be 1 change curve for two electrical motors within 3. form, the intermediate point of curve is oppositely non-differential operating points of two electrical motors, described, each 1 electrical motor that the travel direction control unit presets the 3. form controlled respectively has two kinds from shutting down maximum speed, two electrical motors are that reverse state is from shutting down two electrical motor 230 combined running control units of maximum speed (see figure 6) control;

The above, hand operating lever 120 is handled, two electrical motor 230 linear change combined runnings of travel direction control unit control, its eight kinds of modes promptly are that eight kinds of modes are rotated in two adhesion wheels 210 combination, be the autogyro electricity travel turn from 0 turn radius to maximum radius straight to the direction drive manner (see figure 7) of travelling.

2.2, driving dynamics control unit (see figure 8):

The driving dynamics control unit; driving dynamics control mechanism for any one form of travelling except shutting down the brake form; 230 each the electrical motor turn power operation of two electrical motors change or the operation of reversing power changes by controlling, and realize that the power of control autogyro ground run changes and velocity variations:

First kind of situation, two electrical motors 230 of travel direction control unit control all be in the same way, under the condition of non-differential combined running, two electrical motor 230 square ones of driving dynamics control unit control change operation power, be in order to advance directly to travelling (motor operation forward) and retreating directly in a direction running of travel (motor operation is swung to), control each electrical motor 230 and carry out power operation variation according to the combined running condition, realize that the straight-line travelling propulsive effort changes or moving velocity changes.

Second kind of situation, all be operation in the same way at two electrical motors 230 of travel direction control unit control, but an electrical motor operates to the combined running situation of differential movement, when with a certain differential when turning round than (index), the driving dynamics control unit is controlled at this differential variation on year-on-year basis than following two electrical motors 230 of said conditions and moves power, have four kinds of forms: 1. form, two electrical motor forward running left sides are differential, two electrical motors that do not change this differential index change power control on year-on-year basis, being used for advancing left, the driving dynamics of a certain angle of turn of turning driving changes or the moving velocity variation, 2. form, two electrical motor 230 forwards runnings are right differential, two electrical motors 230 that do not change this differential index change power control on year-on-year basis, be used for advancing bending to right and travel that the driving dynamics of a certain angle of turn changes or moving velocity changes, 3. form, it is right differential that two electrical motors 230 are swung to running, two electrical motors 230 that do not change this differential index change power control on year-on-year basis, be used for retreating bending to right and travel that the driving dynamics of a certain angle of turn changes or moving velocity changes, 4. form, it is differential that two electrical motors 230 are swung to a running left side, two electrical motors 230 that do not change this differential index change power control on year-on-year basis, and being used for retreating left, the driving dynamics of a certain angle of turn of turning driving changes or the moving velocity variation; Described, no matter two turning drivings that electrical motor is any differential operation in the same way, the control of driving dynamics control unit all is under an angle of turn driving conditions, and the control driving dynamics changes or the control moving velocity changes.

The 3rd kind of situation, control first electrical motor forward running (driving forwards) second electrical motor at the travel direction control unit and swing to running (to rear drive), first electrical motor is swung to helicopter hull 110 that two kinds of reverse power of running (to rear drive) second electrical motor forward running (driving forwards) the drive directional steering and the turning driving of directional steering left to the right, left-handed turning to or right-hand turning to any one steering angle travel, the driving dynamics control unit does not change the antiport situation between first electrical motor and second electrical motor, do not change the differential degree situation between first motor operation and second motor operation, 1. in the form of directional steering to the right, turn round first electrical motor and swing to two electrical motors 230 of running second electrical motor and changes on year-on-year basis and move power of driving dynamics control unit control forward, the driving dynamics variation or the moving velocity of the various steering angles of directional steering change to the right to be used for fuselage, 1. in the form of directional steering left, driving dynamics control unit control is swung to running first electrical motor and forward two electrical motors of second electrical motor that turn round and is changed operation power on year-on-year basis, the driving dynamics variation or the moving velocity of the various steering angles of directional steering change left to be used for fuselage, described, no matter two electrical motors 230 travel for differential state inverted running or any pivot turn of non-differential state inverted running, the control of driving dynamics control unit, all be under an angle of turn driving conditions, the control driving dynamics changes or the control moving velocity changes.

2.3, the brake control unit:

Controlled for all shutting down situation when two electrical motors 230, this brake control unit control unit control electromagnetic brake device 280 that is used to brake produces braking maneuvers;

2.4, the control signal judging unit:

Hand operating lever 120 is the machine of being made up of magnet and magnetoelectric transducer, the corresponding magnetic blow out centre point of centre point that this hand operating lever 120 is handled disc, sensor produces unlike signal during swing hand operating lever 120, a kind of is that hand operating lever 120 circumference rotate the X/Y coordinate than the rule variable signal that changes, the another kind of X/Y coordinate that changes for hand operating lever 120 radius distance is than not changing but the rule variable signal that X and Y change on year-on-year basis, described control signal judging unit, the X/Y coordinate of judging hand operating lever 120 control signals is than changing and the XY changes in coordinates, described X/Y coordinate is used for travel direction control unit control autogyro ground electric running direction than changing, described XY changes in coordinates be used to brake control unit control autogyro ground electric running brake snub and be used for driving dynamics control unit control autogyro ground electric running power and change (see figure 9);

The XY coordinate controlsurface of hand operating lever 120 is divided into nine manipulation districts of nine kinds of function controllings; be to handle the district by eight of 230 8 kinds of combined runnings of travel direction control unit two electrical motors of control; all shut down and prevent another manipulation district of rotation by two electrical motors 230 of drag control unit control; it is that eight sectorial areas are handled the district that described eight kinds of combined runnings are controlled; these eight districts are connected to become the annulus of handling on the disk; each coordinate points promptly is each point that hand operating lever 120 is controlled travel direction and driving dynamics on the annulus; its each control point: 1. the judgement signal of control signal judging unit calculating X/Y coordinate ratio is used for travel direction control; 2. the control signal judging unit judgement signal that calculates the XY value of some X/Y coordinate ratios is used for the power ride control; comprise the drag control of 0 power and the control of various driving dynamics size variation; and the district is handled in drag control; for the XY value of each X/Y coordinate ratio all is a specified value; a little disc that comprises XY coordinate center-point; this roundlet and the described annulus of controlling travel direction and driving dynamics are handled the whole controlsurface (seeing Fig. 9-1) that the district is connected to become hand operating lever 120; each variation XY coordinate points of various X/Y coordinate ratios all is the drag manipulation point of equivalent effect function on this roundlet; handle the district at described annulus; belonging to rectilinear direction travels and handles the district; the X/Y coordinate does not compare situation in the forum; any coordinate changes on year-on-year basis than last XY value; its variability index all is that straight-line travelling is handled the control index that driving dynamics changes; belong to turning driving and handle the district; no matter the turning driving of which kind of direction; the variability index on year-on-year basis of XY value on an X/Y coordinate ratio all is the maybe control index of the manipulation driving dynamics variation of this kind turn radius of this kind angle of turn.

2.4.1, the control signal judging unit control signal that is used for travel direction control judges:

Described eight fan-shaped manipulation districts in district are handled in non-shutdown brake; be used as with X coordinate axle and Y coordinate axle the operating function district is set; adopt the method for Y-axis, adopt the method (seeing Fig. 9-1,2) that each point of X-axis is used as maximum turning function control point as straight-line travelling control area line of centers:

First method, on Y coordinate axle (X=0), the Y coordinate figure be on the occasion of with two positions of Y-axis of negative value, be used as and control two all non-differential just commentaries on classics and all non-differential reversings of electrical motor 230, be used for hand operating lever 120 and control two center actuated position of two kinds of straight-line travellings of forward-reverse, and with the line of centers of Y-axis as sectorial area, positive and negative Y value becomes two fan sections, become the straight-line travelling that advances and handle the district with two kinds that retreat straight-line travelling, two identical external forms of manipulation district's area are the same, handle in the district 1, hand operating lever 120 is handled each control signal of each X/Y coordinate points, and it is a kind of straight-line travelling direction to control that the travel direction control unit all is judged as;

Second method, on X coordinate axle (Y=0), the X coordinate figure be on the occasion of with two positions of X-axis of negative value, being used as and controlling two electrical motor 230 backward rotation is not differential operation, be: first electrical motor just changeing second electrical motor reversing 0 the radius pivot stud is a kind of turns to (fuselage right steering) to control the position, first electrical motor reverses the 0 radius pivot stud another kind that second electrical motor just changeing and turns to (fuselage left steering) to control the position, and Y-axis left and right sides coordinate area with four coordinate areas of X-axis bonded assembly, be used as travelling of four kinds of turn direction and control, four kinds of situations of two electrical motors of its direction control unit control, 230 operations are as follows:

1. first electrical motor is just changeing the reversing of second electrical motor; two electrical motors are non-differential; fuselage 0 radius flicker to; just walking around speed when becoming big second electrical motor reversing rotating speed (differential) situation that diminishes and changing when adopting first electrical motor; change second electrical motor and be minimum when differential flicker to fuselage forward minor increment move; when changing second electrical motor and being maximum differential (second electrical motor stops operating) flicker to fuselage forward ultimate range move; at this moment first electrical motor is just walking around that speed becomes maximum and second electrical motor is a stopped status; adopt second electrical motor to be changed to forward rotation from stopped status; it is minimum differential that the speed that is changed to that first electrical motor is just walking around that speed does not change and second electrical motor is just being walked around constantly is changed to from maximum differential, is the autogyro of first electrical motor, the second electrical motor forward rotation, the second electrical motor differential change right-hand corner that travels that advances.

2. first electrical motor is just changeing the reversing of second electrical motor; first electrical motor, second electrical motor is non-differential; fuselage 0 radius flicker to; when adopting first electrical motor speed of just walking around to diminish (differential) second electrical motor reversing rotating speed when becoming big situation and changing; change first electrical motor and be minimum when differential flicker to fuselage backward minor increment move; when changing the first electrical motor maximum differential (first electrical motor stops operating) flicker to fuselage backward ultimate range move; at this moment first electrical motor is that stopped status and second electrical motor reversing rotating speed becomes maximum; adopt first electrical motor to be changed to and swing to rotation from stopped status; being changed to first electrical motor reversing rotating speed and constantly being changed to minimum differentially and second electrical motor reversing rotating speed does not change from maximum differential, is that first electrical motor, second electrical motor is swung to the autogyro that rotates the first electrical motor differential change and retreated the turnon left that travels.

3. first electrical motor reverses second electrical motor is just changeed; first electrical motor, second electrical motor is non-differential; fuselage 0 radius flicker to; just walking around speed when becoming big situation and changing when adopting first electrical motor reversing rotating speed (differential) second electrical motor that diminishes; change first electrical motor and be minimum when differential flicker to fuselage forward minor increment move; when changing first electrical motor and being maximum differential (first electrical motor stops operating) flicker to fuselage forward ultimate range move; at this moment first electrical motor is that stopped status and second electrical motor speed of just walking around becomes maximum; adopt first electrical motor to be changed to forward rotation from stopped status; being changed to first electrical motor speed of just walking around and constantly being changed to minimum differential and second electrical motor speed of just walking around from maximum differential and not changing, is the autogyro of first electrical motor, the second electrical motor forward rotation, the first electrical motor differential change turnon left that travels that advances.

4. first electrical motor reverses second electrical motor is just changeed; first electrical motor, second electrical motor is non-differential; fuselage 0 radius flicker to; just walking around speed (differential) situation that diminishes when changing when adopting first electrical motor reversing rotating speed to become big second electrical motor; change second electrical motor and be minimum when differential flicker to fuselage forward minor increment move; when changing second electrical motor and being maximum differential (second electrical motor stops operating) flicker to fuselage backward ultimate range move; at this moment second electrical motor is that stopped status and first electrical motor reversing rotating speed becomes maximum; adopt second electrical motor to be changed to and swing to rotation from stopped status; being changed to second electrical motor reversing rotating speed and constantly being changed to minimum differentially and first electrical motor reversing rotating speed does not change from maximum differential, is that first electrical motor, second electrical motor is swung to the autogyro that rotates the second electrical motor differential change and retreated the right-hand corner that travels.

Described four coordinate areas controlling, on the coordinate disc, belong to the same side of X-axis (as the top), two coordinate area positions of its described four coordinate areas, each is controlled the position with a kind of straight-line travelling (as the straight-line travelling that advances) and is connected, two positions in addition of its four coordinate areas, controlling the position with another kind of straight-line travelling (as retreating straight-line travelling) is connected, described is that four kinds of direction turning drivings are controlled with four situations that are connected that the forward-reverse straight-line travelling is controlled and (seen Fig. 9-1,2), its each connection situation, all be that its Y value of X/Y coordinate points changes since 0, change to straight-line travelling always and handle terminal certain the Y numerical value in district, four kinds of connections all are institute's kindred circumstances, these four kinds of situation systems are the center with the centre point, in X-axis upper and lower position in Y-axis right and left position, be two kinds of X/Y coordinate curves of two groups of same coordinate parameters, and be two kinds of signals that the controlsurface Y-axis left side and right side hand operating lever 120 are handled two kinds of same linear change, its each linear change signal, be the travel direction control unit control each electrical motor separately " the most just change-just changing little-shutdowns-reversing become big-reverse the most at a high speed " be the operation variation of linear change, this signal location that a motor speed do not change the differential combined running in the same way of another motor speed is changed into to start with two non-in the same way differential combined runnings of electrical motor in system, the differential change of two these differential character linear change of electrical motor, the differential electrical motor of one (being made as first electrical motor) rotating speed slack-off to the state of shutting down then another non-differential electrical motor (being made as second electrical motor) change the slack-off rotating speed of beginning into, at this moment be that two non-in the same way differential combined runnings of electrical motor change the starting points that stop is again two differential operation combined running variations of electrical motor antiport, described two differential operations of electrical motor antiport, be that first electrical motor changes counter-rotation and slow rotation into from shutdown, former positive dirction is rotated second electrical motor minimizing rotating speed during counter-rotation first electrical motor rev up, change to first electrical motor, the second electrical motor reverse speed is non-differential state always, this is controlled signal location and is preset on the X-axis, former positive dirction is rotated the state that second electrical motor changes shutdown into when counter-rotation first electrical motor is increased to maximum speed, when second electrical motor when shutdown changes backward rotation into, then be transformed into another differential in the same way combined running, this kind differential change in the same way changes to the non-differential combined running that other kind of two electrical motors turns to together always; Described situation, each linear change signal are that the travel direction control unit is controlled each electrical motor independent operating, and the break point of each electrical motor operation has nothing in common with each other, but coordinate X/Y value is identical.

The linear change of each two kinds different " the most just change-just changing little-shutdown-reversing and become big-reversing the most at a high speed " of described two electrical motors, 230 each electrical motor; two electrical motor 230 combined running linear change whole process; handle the district for six of the above six kinds of turning drivings and handle the hand operating lever 120 manipulation anchor rings (seeing Fig. 9-1,2) that the district is connected with two of two kinds of straight-line travellings, its whole signals are used to drive autogyro ground run direction.

Handle the district for eight of eight kinds of direction running forms of control signal judgment unit judges, be on the hand operating lever controlsurface, to remove drag to handle all the other whole coordinate points after district's coordinate points, these whole coordinate points are divided into eight part coordinate points with a kind of figure pattern, its cooresponding eight part signals are used for travel direction control unit control straight ahead direction, travelling of straight line direction of retreat and the various angle of turn directions of various turn direction, the various angle of turn directions of described various turn direction, distinguish and be: advancing of various left-hand rotation angle directions travelled, the pivot turn left of various turn radius left-hand rotation directions is travelled, retreating of various right-hand rotation angle directions travelled, advancing of various right-hand corner angle directions travelled, the pivot turn to the right of various turn radius right-hand rotation directions is travelled, retreating of various left-hand rotation angle directions travelled;

System adopts digital-to-analogue to intend eight manipulations of (abbreviation modulus) way resolution zone position and calculates eight kinds of control signals, system handles the entire area that is used for travel direction control on the disc with hand operating lever 120, be divided into 360 sectors, 360 sectors are become eight sectors, be the above eight manipulation districts, it is modeled as 360 integers and eight integers, and, 1. controlling advancing of rectilinear direction travels and retreats travel two kinds and handle the district, adopt the modulus of two same numbers numbers, 2. control the turnon left right-hand corner of the turn direction of advancing, control retreats the right-hand corner turnon left of turn direction, its four kinds of turn control districts adopt the modulus of four same numbers numbers, 3. control the fuselage left steering of pivot turn and two kinds of fuselage right steering and handle the district, adopt the modulus of two same numbers numbers---

(seeing Fig. 9-2) 7 for example, 70,33,70,7,70,33,70 add up to eight kinds of moduluses of 360 degree, 1. two 7 type matrix number, be modeled as two of two kinds of straight-line travellings of forward-reverse and handle district's (see figure 10), in the X coordinate points is 0 value, corresponding 7 middle numbers of counting the number of words on Y-axis, it is each number of handling district's medium line, X/Y is 1/90 in the Y-axis left side, 2/89,3 kinds of coordinate points of 3/88 coordinate ratio, count the number of words for each corresponding 3, at Y-axis right side X/Y is 1/90,2/89,3 kinds of coordinate points of 3/88 coordinate ratio, count the number of words for each corresponding 3, form hand operating lever 120 and handle the fan-shaped manipulation area that adopts 7 moduluses on the disc, each area is used for the zone that a kind of straight-line travelling is handled, handle the X/Y coordinate ratio of position with described method computing hand operating lever 120, its each coordinate is than each signal of sensing, be used for measure judging the straight-line travelling mode, its positive and negative Y coordinate is used for judging and advances or retreat travel direction; 2. two 33 other type matrix numbers, be modeled as travel two of two kinds of forms of fuselage left steering right steering of pivot turn and handle district's (see figure 10), in the Y coordinate points is 0 value, corresponding 33 middle numerals of counting the number of words on X-axis, it is each number of handling district's medium line, each point is two signal locations that the non-differential 0 turn radius pivot stud of electrical motor inverted running is controlled on this line, X/Y is 90/1 above X-axis, 89/2,88/3......77/14,76/15,1 six kinds of coordinate points of 75/16 coordinate ratio, count the number of words for each corresponding 1 six, X/Y is 90/1 under X axis, 89/2,88/3......77/14,76/15,1 six kinds of coordinate points of 75/16, count the number of words for each corresponding 1 six, the sectorial area of these 33 kinds of coordinate ratios, a kind of one of form of travelling of fuselage left steering that travels for pivot turn or fuselage right steering is handled the district, the positive and negative coordinate method of its X-axis, be used to judge that the pivot turn fuselage right steering of travelling handles district and the pivot turn fuselage left steering that travels and handle the district, the positive and negative coordinate method of its Y-axis, be used to judge that the steering mode that steering mode is handled or fuselage retreats that fuselage advances handles, is the manipulation district that coordinate points is connected in a kind of X-direction (as on the occasion of the X coordinate points) with a kind of Y direction (as on the occasion of the Y coordinate points), the X/Y coordinate ratio of its computing, this handles interior each coordinate in district each signal than sensing, be used to measure the turning driving radius of judging that certain pivot turn is travelled and handled, be used for the travel direction control unit two electrical motor 230 antiports, the combination running is than changing, the control of rotation speed change separately; 3. will be 2. pivot turn travel and handle that district 1 is terminal to be handled district's 1 end with 1. straight-line travelling and be connected, be that 74/17 coordinate of X/Y begins to 4/87 of X/Y than a kind of coordinate points be that 70 of 70 coordinate ratios count the number of words, be that hand operating lever 120 is handled four sectorial area (see figure 10)s that disc adopts four kind of 70 modular approach up and down, two fan sections of position, the disc left and right sides above X-axis, be to advance two that the various angle of turn of left-hand rotation direction travel and the various angle of turn of right-hand rotation direction that advance travel to handle the district, two fan sections of position, the disc left and right sides below X-axis, be to retreat the various angle of turn of right-hand rotation direction to travel and retreat two that the various angle of turn of left-hand rotation direction travel and handle district's (see figure 10)s, judge that a certain manipulation district measures hand operating lever 120 and handles the some transducing signal, its X/Y coordinate ratio of computing is used for two differential in the same way operations of electrical motor 230 of travel direction control unit control, differential than each electrical motor operation variation that changes.

2.4.2, the control signal judging unit control signal that is used for driving dynamics control judges:

Described control signal judgment unit judges drag is handled and is judged and handle the driving dynamics size variation, 1. belong to drag control and handle the drag control judgement in district, system is from XY coordinate center-point, X-axis distance and Y-axis are apart from the roundlet that all adopts same a certain setting number, corresponding each signal (seeing Fig. 9-2) of the various manipulation coordinate points of this little disc of computing, this each signal is used for the drag signal, 2. belong to straight-line travelling and handle the driving dynamics control judgement in district, handle the district X/Y of (see figure 10) system coordinate and change no matter travel such as what in rectilinear direction, any coordinate is than last XY value variability index on year-on-year basis, all control the driving dynamics variability index than this kind of control straight-line travelling direction (advance or retreat) for this coordinate, 3. belong to turning driving and handle the driving dynamics control judgement in district, no matter the turning driving of which kind of direction, a kind of coordinate than on XY value variability index on year-on-year basis, all control the driving dynamics variability index than what control turning form (angle of turn or turn radius) for this coordinate.

1. 2. 3. hand operating lever 120 radius of circles manipulation among the described 2.4.2, all be within radius of circle, to control to change to handle radius distance, the omnidistance manipulation situation of the each radius of hand operating lever, be: when the home position drag is controlled hand operating lever and left home position progressively radius moves, the driving dynamics of being controlled progressively increases, when moving to hand operating lever thrust position, the driving dynamics maximum of being controlled, described is that electric travelling changes to the whole process of maximum power from 0 power, its driving dynamics changes in electric driving process, the distance that is the center of circle to hand operating lever thrust position long radius deducts drag minor radius distance, this kind difference is average by an integer, its variable signal value that changes each mean number is used for 1 grade of power and changes, and is to adopt the dutycycle method to be used for hand operating lever 120 radiuses to handle the method that the magnetic strength signal changes and the mensuration power signal changes.

2.4.3, to be used for that direction running and power (speed) travels all be control simultaneously to the control signal judging unit, the various control signals of other each coordinate points except the drag manipulation, all for controlling travel direction and driving dynamics simultaneously, promptly be the signal of non-drag, an one signal is used for travel direction control unit and driving dynamics control unit simultaneously.

3, autogyro is in the electrical power system of ground electric running:

The autogyro ground electric running, the electric energy of power supply in the use fuselage, power control changes electric energy on the autogyro controller 150 work energy into, changes two electrical motors, 230 operation electric energy and two electromagnetic brake device 280 work energy into.

Figure 11 is the control chart of aircraft at ground electric running, and the autogyro that present embodiment provides has:

1, autogyro the is taken off autogyro wheel of landing on the alighting gear, use instead and be the electronic wheel assembly that travels in autogyro ground, comprise the direction wheel assembly that is installed in fuselage one end, freely turns to, comprise two drive wheels that are installed in the fuselage other end, respectively are with the formal transformation device that travels in fuselage left and right sides, each belt brake mechanism of each charged driver train;

2, autogyro is when electricity travels on the ground, use autogyro engine power supply, use hand operating lever in the fuselage, hand operating lever is driven direction, speed, power and the drag of autogyro ground run, comprise the driving of pivot turn driving and Fast transforms direct of travel, autogyro can travel mobile by the fast reserve electricity after the flight landing ground;

3, can use autogyro flight control bar to be used as the ground electric drive, close electronic the travelling of electronic ride control switch in ground and elimination joystick when autogyro takes off and drive after the function, the flight control bar recovers to be used for autogyro flight and drives;

4, on ground, after autogyro wheel on the alighting gear changed the form of sliding into, the favourable autogyro of wheel function departed, the ground service work when the autogyro wheel characteristics that slide also are fit to the aviator and are absent from the scene in addition;

Described, autogyro flight alighting gear increases the devices such as electrical motor of little weight, remedies autogyro ground and moves the manoevreability defective that wait drags, and especially linear change is controlled the ground electric running direction, has strengthened the ground environment comformability of helicopter.

More than a kind of autogyro that the embodiment of the invention provided is described in detail, for one of ordinary skill in the art, thought according to the embodiment of the invention, part in specific embodiments and applications all can change, in sum, this description should not be construed as limitation of the present invention.

Claims

1, a kind of autogyro with ground electric running function is characterized in that, described ground run system, Ride Control System and the electrical power system of travelling, wherein:

2, the autogyro that has ground electric running function according to claim 1, it is characterized in that, described ground run system comprises and is arranged on the front fuselage below first adhesion wheel device and the second adhesion wheel device, and the direction wheel assembly that is arranged on the front fuselage below.

3, as having the autogyro of ground electric running function as described in the claim 2, it is characterized in that described adhesion wheel device comprises bumper, be used to drive the transmission machinery of described adhesion wheel, be used for the electromagnetic brake device of brake motor and be used to control this transmission machinery transmission so that the conv that this adhesion wheel rotates for electricity drives or on-electric slides;

4, the autogyro that has ground electric running function according to claim 1, it is characterized in that, described Ride Control System, be installed in the fuselage, comprise: the control device and the hand operating lever that is used for to described control device input control signal that are used for electronic ride control, handle described control device by described hand operating lever described adhesion wheel device is controlled, produce on ground to drive autogyro that direction running, power travel, the various electricity of drag travel action form.

5, as having the autogyro of ground electric running function as described in the claim 4, it is characterized in that described control device comprises: control signal judging unit, travel direction control unit, driving dynamics control unit, brake control unit, wherein:

6, the autogyro that has ground electric running function according to claim 1, it is characterized in that, the electrical power of travelling system, be arranged in the fuselage, comprise supply unit and power control, change the control device work energy into, change two electrical motor operation electric energy and two electromagnetic brake device work energy into by the electric energy of power control with supply unit.